Formation and Containment Control for High-order Linear Swarm Systems〈1st ed. 2016〉

著者名：Dong, Xiwang

Springer（2015/07/18発売）

• 言語：ENG
• ISBN：9783662478356
• eISBN：9783662478363

Description

This book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time.

Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results.

Table of Contents

Introduction.- Preliminaries.- Consensus control of swarm systems.- Formation control of swarm systems.- Containment control of swarm systems.- Formation-containment control of swarm systems.- Conclusions and future work.